Lateral control method and device of vehicle and storage medium

Abstract

The invention relates to the technical field of automatic driving, and discloses a transverse control method and device for a vehicle and a storage medium. The method comprises the steps that the torque of a driver is obtained in real time, and whether driving intervention is conducted or not is judged according to the torque of the driver; in response to no driving intervention, acquiring lane line information corresponding to the vehicle, determining a driving assistance angle according to the lane line information, and performing transverse control on the vehicle according to the driving assistance angle; and in response to driving intervention, obtaining a driving intervention angle, taking the driving intervention angle as a driving assistance angle, and performing transverse control on the vehicle according to the driving assistance angle. According to the technical scheme, the angle source of transverse control of the vehicle is determined according to the torque of the driver, exit of the lane keeping function is avoided, and the man-machine co-driving effect is achieved.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving technology, and in particular to a lateral control method, device and storage medium for a vehicle. Background Art

[0002] When the driving assistance is turned on, the lane keeping function is activated, and it is difficult for the driver to intervene at this time. In other words, the steering wheel becomes hard and difficult to control under normal circumstances. Moreover, as long as the driver's intervention causes one side of the wheel to step out of the lane, the lane keeping function will immediately exit. As a result, the driver will feel the frequent entry and exit of the lane keeping function, which will lead to a poor driving experience.

[0003] Currently, when the lane keeping function is activated, there is no way to functionally avoid driver intervention, such as active deviation to move away from the curb.

[0004] In view of this, the present invention is proposed. Summary of the invention

[0005] In order to solve the above technical problems, the present invention provides a vehicle lateral control method, device and storage medium, which can determine the angle source of the vehicle lateral control according to the driver's torque, avoid the exit of the lane keeping function, and achieve the effect of human-machine co-driving.

[0006] An embodiment of the present invention provides a lateral control method for a vehicle, the method comprising:

[0007] acquiring a driver's torque in real time, and determining whether to perform driving intervention according to the driver's torque;

[0008] In response to not performing driving intervention, acquiring lane line information corresponding to the vehicle, determining a driving assistance angle according to the lane line information, and performing lateral control on the vehicle according to the driving assistance angle;

[0009] In response to the driving intervention, a driving intervention angle is acquired, the driving intervention angle is used as a driving assistance angle, and the vehicle is laterally controlled according to the driving assistance angle.

[0010] An embodiment of the present invention provides an electronic device, the electronic device comprising:

[0011] Processor and memory;

[0012] The processor is used to execute the steps of the vehicle lateral control method described in any embodiment by calling the program or instruction stored in the memory.

[0013] An embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores a program or instruction, wherein the program or instruction enables a computer to execute the steps of the vehicle lateral control method described in any embodiment.

[0014] The embodiments of the present invention have the following technical effects: by acquiring the driver's torque in real time, and judging whether to perform driving intervention according to the driver's torque, it is judged whether to avoid the situation where the steering wheel becomes hard and affects the driving intervention. Furthermore, if no driving intervention is performed, the lane line information corresponding to the vehicle is acquired, and the driving assistance angle is determined according to the lane line information. According to the driving assistance angle, the vehicle is laterally controlled to perform lateral control of the lane keeping function. If driving intervention is performed, the driving intervention angle is acquired, and the driving intervention angle is used as the driving assistance angle. According to the driving assistance angle, the vehicle is laterally controlled. The driving intervention angle is used instead of the solved driving assistance angle to control the vehicle laterally. This realizes determining the source of the lateral control angle of the vehicle according to the driver's torque, avoids the exit of the lane keeping function, and achieves the effect of human-machine co-driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0016] Figure 1 is a flow chart of a lateral control method of a vehicle provided by an embodiment of the present invention;

[0017] Figure 2 is a flow chart of another vehicle lateral control method provided by an embodiment of the present invention;

[0018] Figure 3 A schematic diagram of a relative position relationship of a lane line between two adjacent lane lines provided by an embodiment of the present invention;

[0019] Figure 4 is a schematic diagram of a relative position relationship of lane lines provided by an embodiment of the present invention, in which the lane lines are not located between two adjacent lane lines;

[0020] Figure 5 The embodiment of the present invention provides another schematic diagram of a relative position relationship of lane lines that are not located between two adjacent lane lines;

[0021] Figure 6 is a schematic structural diagram of a lateral control system of a vehicle provided by an embodiment of the present invention;

[0022] Figure 7 It is a structural schematic diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be described clearly and completely below. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work belong to the scope of protection of the present invention.

[0024] The lateral control method of a vehicle provided in an embodiment of the present invention is mainly applicable to the case where the angle source of the lateral control of the vehicle is determined in combination with the driver's torque after entering the lane keeping function, and human-machine co-driving is performed. The lateral control method of a vehicle provided in an embodiment of the present invention can be executed by an electronic device integrated in the vehicle or independent of the vehicle.

[0025] Figure 1 is a flow chart of a vehicle lateral control method provided by an embodiment of the present invention. Figure 1 , the lateral control method of the vehicle specifically includes:

[0026] S110, obtaining the driver's torque in real time, and judging whether to perform driving intervention according to the driver's torque, if not, executing S120, and if yes, executing S130.

[0027] The driver torque is the torque measured when the driver actively intervenes in the steering wheel, which can be obtained based on sensors. Driving intervention is the temporary use of manual driving instead of autonomous driving during the autonomous driving process.

[0028] Specifically, torque can be obtained in real time based on the sensor on the steering wheel. When the driver wants to intervene manually, the driver torque can be applied to the steering wheel, the size of the driver torque can be analyzed, and it can be determined whether the driver intervenes in driving.

[0029] Based on the above example, whether to perform driving intervention can be determined according to the driver torque in the following way:

[0030] If the driver torque is greater than a first torque threshold, determining to perform a driving intervention;

[0031] If the driver torque is less than or equal to the first torque threshold, it is determined that no driving intervention is to be performed.

[0032] The first torque threshold is a pre-set torque value used to determine whether the driver's torque will trigger driving intervention.

[0033] Specifically, if the driver's torque is greater than the first torque threshold, it means that the driver has applied a large torque to the steering wheel, and it can be considered that the driver wants to actively intervene in the lateral control of the vehicle, so it can be determined to perform driving intervention. If the driver's torque is less than or equal to the first torque threshold, it can be considered that the driver has no intention of forced intervention or the driver accidentally touches the steering wheel, etc., so it is determined not to perform driving intervention.

[0034] S120: Acquire lane line information corresponding to the vehicle, determine a driving assistance angle according to the lane line information, and perform lateral control of the vehicle according to the driving assistance angle.

[0035] The lane line information includes the distance information between the vehicle and the left lane line, the distance information between the vehicle and the right lane line, and the lane line extension information, etc. The driving assistance angle is the control angle required for the vehicle to be in the middle of the lane based on the lane keeping function.

[0036] Specifically, the lane line information corresponding to the vehicle can be obtained through sensors or perception modules installed on the vehicle. Based on the lane keeping function, the lane line information is analyzed and calculated to obtain a control angle for keeping the vehicle in the center of the lane, i.e., a driving assistance angle. Then, the vehicle is laterally controlled according to the driving assistance angle to realize the lane keeping function.

[0037] S130: Acquire a driving intervention angle, use the driving intervention angle as a driving assistance angle, and perform lateral control on the vehicle according to the driving assistance angle.

[0038] Among them, the driving intervention angle is the control angle used for lateral control of the vehicle determined based on the driver's control of the steering wheel.

[0039] Specifically, since the vehicle is controlled laterally by determining the auxiliary driving angle and following the auxiliary driving angle before the driving intervention, the auxiliary driving angle can be stopped after the driving intervention, and the driving intervention angle can be introduced as a new auxiliary driving angle. Therefore, the driving intervention angle can be obtained based on the control of the steering wheel, and then the driving intervention can be called the auxiliary driving angle to avoid steering wheel resistance, and the vehicle can be controlled laterally according to the new auxiliary driving angle, so as to achieve human intervention in the automatic driving process and achieve the effect of human-machine co-driving.

[0040] Based on the above example, if you exit the lane keeping function, you can still accept steering wheel control, specifically:

[0041] In response to exiting the lane keeping function, receiving a steering wheel angle, and determining a target steering angle according to the steering wheel angle;

[0042] The vehicle is controlled laterally according to the target steering angle.

[0043] The lane keeping function is a function that helps the vehicle stay in the lane by identifying the lane markings through the camera. The steering wheel angle refers to the angle at which the steering wheel deflects from the center position to one side, which can be obtained through the steering wheel angle sensor. The target steering angle is the wheel angle for steering the vehicle.

[0044] Specifically, if a signal for exiting the lane keeping function triggered by the user is received, the lane keeping function is determined to be exited. Then, the vehicle needs to be controlled laterally by manual driving. Therefore, the steering wheel angle can be obtained by the steering wheel angle sensor, and the steering wheel angle can be converted into a target steering angle according to the preset control method of the vehicle. Then, the vehicle is controlled laterally according to the target steering angle to realize manual driving control after exiting the lane keeping function.

[0045] The present invention has the following technical effects: by acquiring the driver's torque in real time, and judging whether to perform driving intervention according to the driver's torque, it is determined whether to avoid the situation where the steering wheel becomes hard and affects the driving intervention. Furthermore, if no driving intervention is performed, the lane line information corresponding to the vehicle is acquired, and the driving assistance angle is determined according to the lane line information. According to the driving assistance angle, the vehicle is laterally controlled to perform lateral control on the lane keeping function. If driving intervention is performed, the driving intervention angle is acquired, and the driving intervention angle is used as the driving assistance angle. According to the driving assistance angle, the vehicle is laterally controlled. The driving intervention angle is used instead of the solved driving assistance angle to control the vehicle laterally, thereby realizing the determination of the source of the lateral control angle of the vehicle according to the driver's torque, avoiding the exit of the lane keeping function, and achieving the effect of human-machine co-driving.

[0046] The above embodiment describes the processing methods of driving intervention and non-driving intervention. In this embodiment, the processing method of the lateral control of the return lane keeping function after the driving intervention can be further described to improve the autonomy of vehicle control, such as Figure 2 shown. Figure 2 FIG. 1 is a flow chart of another vehicle lateral control method provided by an embodiment of the present invention. The explanations of the terms that are the same or corresponding to the above-mentioned embodiments are not repeated here. Figure 2 As shown, the method may specifically include the following steps:

[0047] S210, obtaining the driver's torque in real time, and judging whether to perform driving intervention according to the driver's torque, if not, executing S220, and if yes, executing S230.

[0048] S220: Acquire lane line information corresponding to the vehicle, determine a driving assistance angle according to the lane line information, and perform lateral control of the vehicle according to the driving assistance angle.

[0049] S230: Acquire a driving intervention angle, use the driving intervention angle as a driving assistance angle, perform lateral control on the vehicle according to the driving assistance angle, and execute S240.

[0050] S240: In response to the driver's torque being less than or equal to the second torque threshold, obtaining a relative position relationship of a lane line corresponding to the vehicle, and executing S250.

[0051] The second torque threshold is a pre-set torque value used to determine whether the driver's torque will exit the driving intervention. The second torque threshold is less than the first torque threshold, that is, the torque threshold for entering the driving intervention is greater than the torque threshold for exiting the driving intervention. The relative position relationship of the lane line is the relative position relationship between the vehicle and the lane line, which can be located between two adjacent lane lines (located in one lane) or not located between two adjacent lane lines (across lanes).

[0052] Specifically, if the driver's torque is less than or equal to the second torque threshold, it means that the driver has completed human driving intervention and needs to return to the lane keeping function. In order to maintain the lane, it is necessary to obtain the relative position relationship of the lane line corresponding to the vehicle through sensors such as cameras installed on the vehicle.

[0053] It can be understood that if no lane line passes through the projection area of ​​the vehicle, it can be considered that the relative position relationship of the lane line corresponding to the vehicle is located between the two adjacent lane lines. Otherwise, it can be considered that the relative position relationship of the lane line corresponding to the vehicle is not located between the two adjacent lane lines.

[0054] S250, determining a target lane according to the relative position relationship of the lane lines, determining a lane assistance angle according to the target lane, and executing S260.

[0055] The target lane is the lane that the vehicle finally drives in after exiting the driving intervention. The lane assist angle is the control angle required to control the vehicle to drive in the center of the target lane.

[0056] Specifically, according to the relative position relationship of the lane lines, it can be determined whether the vehicle is traveling across lanes. If the vehicle is not traveling across lanes, the current lane is the target lane. If the vehicle is traveling across lanes, the lane on the left side of the vehicle or the lane on the right side of the vehicle can be used as the target lane. Then, the lane keeping function is used to determine the lane assist angle required for the vehicle to travel in the middle of the target lane.

[0057] Based on the above example, the target lane can be determined according to the relative position relationship of the lane lines in the following way:

[0058] In response to the relative position relationship of the lane lines being located between two adjacent lane lines, the lane between the two adjacent lane lines corresponding to the vehicle is taken as the target lane;

[0059] In response to the relative position relationship of the lane lines being not located between two adjacent lane lines, at least three reference lane lines corresponding to the vehicle are determined, and the target lane is determined according to the vehicle position and the positions of the reference lane lines.

[0060] The reference lane line is the lane line that passes through the vehicle, the lane line on the left side of the vehicle, and the lane line on the right side of the vehicle. The vehicle position is the position information covered by the vehicle as a whole, which may include the position of each key point, such as the position of the center of the vehicle.

[0061] Specifically, if the relative position relationship of the lane lines is between two adjacent lane lines, it means that the vehicle has not crossed the lane and is still within one lane line. In this case, the vehicle can return to the center of the lane for control. Therefore, the lane between the two adjacent lane lines corresponding to the vehicle can be used as the target lane. If the relative position relationship of the lane lines is not between the two adjacent lane lines, it means that the vehicle is crossing the lane. In this case, it is necessary to determine which of the two lanes corresponding to the crossing lane is the target lane. Therefore, at least three reference lane lines corresponding to the vehicle are first determined, and the distance between the vehicle position and the position of each reference lane line is determined. In this way, it can be determined whether it is more convenient to drive to the left lane or the right lane, and the target lane can be determined.

[0062] Based on the above example, the target lane can be determined according to the position of the center point of the rear axle of the vehicle. Specifically, the target lane is determined according to the vehicle position and the positions of each reference lane line in the following manner:

[0063] According to the vehicle position, determine the position of the rear axle center point;

[0064] According to the position of the center point of the rear axle and the positions of each reference lane line, the lane where the center point of the rear axle is located is determined as the target lane.

[0065] The rear axle center point position is the position where the center of the rear axle of the vehicle is located.

[0066] Specifically, if the positions of the key points of the vehicle included in the vehicle position include the position of the center point of the rear axle, the position of the center point of the rear axle can be directly obtained; if the positions of the key points of the vehicle not included in the vehicle position include the position of the center point of the rear axle, the position of the center point of the rear axle can be estimated based on the position distribution of the key points. Then, in combination with the positions of the reference lane lines, it is determined between which two adjacent reference lane lines the center point of the rear axle is located, and the lane between the two adjacent reference lane lines determined is used as the lane where the center point of the rear axle is located, that is, the target lane.

[0067] Based on the above example, the number of reference lane lines is three, including the first lane line, the middle lane line and the second lane line. The target lane can be determined according to the front position and the rear position of the vehicle. Specifically, the target lane is determined according to the vehicle position and the positions of the reference lane lines in the following manner:

[0068] According to the position of the vehicle, determine the front position and the rear position of the vehicle;

[0069] Determine a first distance according to the position of the front of the vehicle and the position of the first lane line, and determine a second distance according to the position of the rear of the vehicle and the position of the second lane line;

[0070] A target lane is determined according to the first distance and the second distance.

[0071] The first lane line is a reference lane line located in the front direction of the vehicle, and the second lane line is a reference lane line located in the rear direction of the vehicle. The front position may be the position where the center of the head of the vehicle is located, and the rear position may be the position where the center of the rear of the vehicle is located. The first distance is the distance between the front position and the first lane line, and the second distance is the distance between the rear position and the second lane line.

[0072] Specifically, if the positions of the key points of the vehicle included in the vehicle position include the position of the center point of the rear axle, the front position and the rear position of the vehicle can be directly obtained. If the positions of the key points of the vehicle not included in the vehicle position include the front position and the rear position of the vehicle, the front position and the rear position of the vehicle can be estimated based on the position distribution of each key point. Further, the distance between the front position and the first lane line position can be calculated as the first distance, and the distance between the rear position and the second lane line position can be calculated as the second distance. Compare the size relationship between the first distance and the second distance, and determine the lane between the lane line corresponding to the side with the smaller distance and the middle lane line as the target lane.

[0073] Based on the above example, the target lane may be determined according to the first distance and the second distance in the following manner:

[0074] If the first distance is less than or equal to the second distance, the lane between the first lane line and the middle lane line is determined as the target lane;

[0075] If the first distance is greater than the second distance, the lane between the second lane line and the middle lane line is determined as the target lane.

[0076] Specifically, if the first distance is less than or equal to the second distance, it means that the vehicle is close to the lane in the front direction, that is, the lane between the first lane line and the middle lane line, so the lane is taken as the target lane. If the first distance is greater than the second distance, it means that the vehicle is close to the lane in the rear direction, that is, the lane between the second lane line and the middle lane line, so the lane is taken as the target lane.

[0077] For example, Figure 3 It is a schematic diagram showing the relative position relationship of lane lines between two adjacent lane lines. Figure 4 It is a schematic diagram showing that the relative position of lane lines is not between two adjacent lane lines. Figure 5 is another schematic diagram of a lane line relative position relationship that is not located between two adjacent lane lines. Figure 4 As shown, the center point of the rear axle of the vehicle is located in the right lane, so the right lane is taken as the target lane, or, because the first distance is greater than the second distance, the lane in the direction of the rear of the vehicle, that is, the right lane is taken as the target lane. Figure 5 As shown, the center point of the rear axle of the vehicle is located in the left lane, so the left lane is used as the target lane, or, because the first distance is smaller than the second distance, the lane in the front direction of the vehicle, that is, the left lane is used as the target lane.

[0078] S260: Performing lateral control on the vehicle according to the lane assist angle, and returning to the step of determining whether to perform driving intervention according to the driver's torque.

[0079] Specifically, the vehicle is controlled laterally according to the lane assist angle to restore the lane keeping function of the automatic driving, so that after the driving intervention is exited, the vehicle drives to the target lane and drives in the center. Furthermore, since the driver's torque is obtained in real time, the step of determining whether to perform driving intervention according to the driver's torque can be returned, and the lateral control of the vehicle can be re-performed in two ways: performing driving intervention or not performing driving intervention.

[0080] Figure 6 FIG. 1 is a schematic diagram of a lateral control system of a vehicle provided by an embodiment of the present invention. Figure 6As shown, the system includes a front-view integrated device and an actuator. The front-view integrated device can be an intelligent camera module for identifying lane lines and sending control angles to the actuator for lateral control of the vehicle. The actuator is used to respond to the control angle request of the front-view integrated device and synchronously feedback whether the driver intervenes in the steering wheel and the driver's torque.

[0081] When the lane keeping function of the front-view integrated device is activated, when it is detected that the driver intervenes in driving and the driver's torque is greater than the calibration value (the first torque threshold, such as 0.5Nm), at this time, regardless of whether the vehicle crosses the line, the lateral control function state will not be exited, but the angle request value of the control angle becomes the actual angle value (driving intervention angle) fed back by the actuator, that is, lateral control is no longer performed, but follows the driver's input. At this time, the angle value sent by the front-view integrated device is the angle of the actual angle sensor (driving intervention angle, that is, the new driving assistance angle) to avoid the resistance situation on the current vehicle. For the exit of the lane keeping function, the activation status signal sent by the front-view integrated device is inactive, and then the actuator will no longer respond to the angle request information (driving assistance angle) sent by the front-view integrated device. At this time, the driver feels that there is no ADAS (Advanced Driving Assistance System) function.

[0082] When the driver no longer intervenes in torque (the driver's torque is less than or equal to the second torque threshold), the forward-looking integrated device controls the vehicle to return to the lane and achieve lane centering based on the information of the vehicle's distance from the lane lines on the left and right sides of the vehicle (for example, distance and direction angle information) sensed input.

[0083] It can be understood that after the driver's driving intervention, the strategy for returning to lane keeping mode is as follows: 1. For the condition where the vehicle is within the lane: the lane keeping function controls the vehicle to return to the corresponding lane and center it; 2. For the condition where the center point of the vehicle's rear axle does not cross the lane line: the vehicle automatically returns to the lane before crossing the line and centers the lane; 3. For the condition where the center point of the vehicle's rear axle crosses the lane line: the vehicle continues to cross the line to the lane on the adjacent side and centers the lane.

[0084] The above method can monitor the driver's torque input and the current activation status of the lane keeping function. It can automatically adapt to the driver's torque input and automatically determine the corresponding target lane based on the distance and angle information of the vehicle from each reference lane. The above control will not cause the exit of the lane keeping function of the lateral control.

[0085] The present invention has the following technical effects: in response to the driver's torque being less than or equal to a second torque threshold, the relative position relationship of the lane line corresponding to the vehicle is obtained, so as to determine how the vehicle restores the lane keeping function after the driving intervention ends, and then, according to the relative position relationship of the lane lines, the target lane is determined, and according to the target lane, the lane assist angle is determined, and according to the lane assist angle, the vehicle is laterally controlled, and the step of determining whether to perform driving intervention according to the driver's torque is returned to execute, so as to determine the driving intervention situation in real time, and realize that after the driving intervention ends, the lane keeping function is restored in combination with the vehicle position, thereby improving the rationality and effectiveness of the vehicle's lateral control.

[0086] Figure 7 Schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. Figure 7 As shown, the electronic device 300 includes one or more processors 301 and a memory 302 .

[0087] The processor 301 may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 300 to perform desired functions.

[0088] The memory 302 may include one or more computer program products, and the computer program product may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory (cache), etc. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 301 may run the program instructions to implement the lateral control method of the vehicle of any embodiment of the present invention described above and / or other desired functions. Various contents such as initial external parameters, thresholds, etc. may also be stored in the computer-readable storage medium.

[0089] In one example, the electronic device 300 may further include: an input device 303 and an output device 304, which are interconnected via a bus system and / or other forms of connection mechanisms (not shown). The input device 303 may include, for example, a keyboard, a mouse, etc. The output device 304 may output various information to the outside, including early warning information, braking force, etc. The output device 304 may include, for example, a display, a speaker, a printer, a communication network and a remote output device connected thereto, etc.

[0090] Of course, to simplify, Figure 7Only some of the components related to the present invention in the electronic device 300 are shown, and components such as a bus, an input / output interface, etc. are omitted. In addition, according to specific application conditions, the electronic device 300 may also include any other appropriate components.

[0091] In addition to the above methods and devices, an embodiment of the present invention may also be a computer program product, which includes computer program instructions. When the computer program instructions are executed by a processor, the processor executes the steps of the vehicle lateral control method provided by any embodiment of the present invention.

[0092] The computer program product may be written in any combination of one or more programming languages ​​to write program code for performing the operations of the embodiments of the present invention, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0093] In addition, an embodiment of the present invention may also be a computer-readable storage medium having computer program instructions stored thereon, which, when executed by a processor, enables the processor to execute the steps of the vehicle lateral control method provided by any embodiment of the present invention.

[0094] The computer readable storage medium can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can include, for example, but is not limited to, a system, device or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0095] It should be noted that the terms used in the present invention are only for describing specific embodiments, rather than limiting the scope of the present application. As shown in the present specification, unless the context clearly indicates an exception, the words "one", "a", "a kind of" and / or "the" do not specifically refer to the singular, but may also include the plural. The terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method or device. In the absence of further restrictions, the elements defined by the sentence "include one..." do not exclude the presence of other identical elements in the process, method or device including the elements.

[0096] It should also be noted that the orientations or positional relationships indicated by the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. Unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", etc. should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be a connection between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0097] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the technical solutions of the embodiments of the present invention.

Claims

1. A lateral control method for a vehicle, characterized in that: include: acquiring a driver's torque in real time, and determining whether to perform driving intervention according to the driver's torque; In response to not performing driving intervention, acquiring lane line information corresponding to the vehicle, determining a driving assistance angle according to the lane line information, and performing lateral control on the vehicle according to the driving assistance angle; In response to the driving intervention, a driving intervention angle is acquired, the driving intervention angle is used as a driving assistance angle, and the vehicle is laterally controlled according to the driving assistance angle.

2. The method according to claim 1, characterized in that The determining whether to perform driving intervention according to the driver torque includes: If the driver torque is greater than a first torque threshold, determining to perform a driving intervention; If the driver torque is less than or equal to the first torque threshold, it is determined that no driving intervention is to be performed.

3. The method according to claim 1, characterized in that After taking the driving intervention angle as the driving assistance angle and performing lateral control on the vehicle according to the driving assistance angle, the method further includes: In response to the driver torque being less than or equal to a second torque threshold, obtaining a relative position relationship of a lane line corresponding to the vehicle; Determine a target lane according to the relative position relationship of the lane lines, and determine a lane assistance angle according to the target lane; The vehicle is laterally controlled according to the lane assist angle, and the process returns to the step of determining whether to perform driving intervention according to the driver torque.

4. The method according to claim 3, characterized in that Determining the target lane according to the relative position relationship of the lane lines includes: In response to the relative position relationship of the lane lines being located between two adjacent lane lines, taking the lane between the two adjacent lane lines corresponding to the vehicle as the target lane; In response to the relative position relationship of the lane lines being not located between two adjacent lane lines, at least three reference lane lines corresponding to the vehicle are determined, and a target lane is determined according to the vehicle position and the positions of the reference lane lines.

5. The method according to claim 4, characterized in that Determining the target lane according to the vehicle position and the positions of each reference lane line includes: Determining the position of the rear axle center point according to the vehicle position; According to the rear axle center point position and the positions of each reference lane line, the lane where the rear axle center point position is located is determined as the target lane.

6. The method according to claim 4, characterized in that The number of the reference lane lines is three, and the reference lane lines include a first lane line, a middle lane line, and a second lane line. The determining of the target lane according to the vehicle position and the positions of the reference lane lines includes: Determining the front position and the rear position of the vehicle according to the vehicle position; Determine a first distance according to the vehicle front position and the first lane line position, and determine a second distance according to the vehicle rear position and the second lane line position; Determining a target lane according to the first distance and the second distance; The first lane line is a reference lane line located in the front direction of the vehicle, and the second lane line is a reference lane line located in the rear direction of the vehicle.

7. The method according to claim 6, characterized in that The determining the target lane according to the first distance and the second distance includes: If the first distance is less than or equal to the second distance, determining the lane between the first lane line and the middle lane line as the target lane; If the first distance is greater than the second distance, the lane between the second lane line and the middle lane line is determined as the target lane.

8. The method according to claim 1, characterized in that: Also includes: In response to exiting the lane keeping function, receiving a steering wheel angle, and determining a target steering angle according to the steering wheel angle; The vehicle is laterally controlled according to the target steering angle.

9. An electronic device, characterized in that: The electronic device comprises: Processor and memory; The processor is used to execute the steps of the vehicle lateral control method as described in any one of claims 1 to 8 by calling the program or instruction stored in the memory.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a program or an instruction, wherein the program or the instruction enables a computer to execute the steps of the lateral control method of a vehicle according to any one of claims 1 to 8.

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